ROS通信模式编程

目录

一.话题、服务模式的ROS程序设计

1.创建程序

 2.编译

3.创建一个ROS工程包 

4.修改CMakeLists.txt的内容

5.运行 

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一.话题、服务模式的ROS程序设计

1.创建程序

mkdir -p ~/comm_ws/src
cd ~/comm_ws/src
catkin_init_workspace

 2.编译

cd ..
catkin_make

 

3.创建一个ROS工程包 

创建小乌龟移动的“服务文件”turtleMove.cpp

进入工程包下的src文件。使用命令：

cd ~/catkin_ws/src/ros_communication/src

/*
本程序是为了实现一个为ROS的动作编程，通过本程序是实现client发布一个位置信息给控制海龟移动的turtlel程序，使海龟移动到目标位置
*/
#include<ros/ros.h>
#include<actionlib/server/simple_action_server.h>
#include"learning_communication/turtleMoveAction.h"
#include<turtlesim/Pose.h>
#include<turtlesim/Spawn.h>
#include<geometry_msgs/Twist.h>
typedef actionlib::SimpleActionServer<learning_communication::turtleMoveAction> Server;
 
struct Myturtle
{
	float x;
	float y;
	float theta;
}turtle_original_pose,turtle_target_pose;
ros::Publisher turtle_vel;
void posecallback(const turtlesim::PoseConstPtr &msg)
{
ROS_INFO("turtle1_position:(%f,%f,%f)",msg->x,msg->y,msg->theta);
turtle_original_pose.x=msg->x;
turtle_original_pose.y=msg->y;
turtle_original_pose.theta=msg->theta;
}
// 收到 action 的 goal 后调用该回调函数
void execute(const learning_communication::turtleMoveGoalConstPtr &goal, Server* as)
{
learning_communication::turtleMoveFeedback feedback;
ROS_INFO("TurtleMove is working.");
turtle_target_pose.x=goal->turtle_target_x;
turtle_target_pose.y=goal->turtle_target_y;
turtle_target_pose.theta=goal->turtle_target_theta;
geometry_msgs::Twist vel_msgs;
float break_flag;
	while(1)
	{
		ros::Rate r(10);
		vel_msgs.angular.z = 4.0 *(atan2(turtle_target_pose.y-turtle_original_pose.y,
	turtle_target_pose.x-turtle_original_pose.x)-turtle_original_pose.theta);
	vel_msgs.linear.x = 0.5 *sqrt(pow(turtle_target_pose.x-turtle_original_pose.x, 2) +pow(turtle_target_pose.y-turtle_original_pose.y, 2));
	break_flag=sqrt(pow(turtle_target_pose.x-turtle_original_pose.x, 2)+pow(turtle_target_pose.y-turtle_original_pose.y, 2));
		turtle_vel.publish(vel_msgs);
		feedback.present_turtle_x=turtle_original_pose.x;
		feedback.present_turtle_y=turtle_original_pose.y;
		feedback.present_turtle_theta=turtle_original_pose.theta;
		as->publishFeedback(feedback);
		ROS_INFO("break_flag=%f",break_flag);
	if(break_flag<0.1) break;
	r.sleep();
	}
// 当 action 完成后，向客户端返回结果
	ROS_INFO("TurtleMove is finished.");
	as->setSucceeded();
}
int main(int argc, char** argv)
{
	ros::init(argc, argv, "turtleMove");
	ros::NodeHandle n,turtle_node;
	ros::Subscriber sub =
	turtle_node.subscribe("turtle1/pose",10,&posecallback); //订阅小乌龟的位置信息
	turtle_vel =turtle_node.advertise<geometry_msgs::Twist>("turtle1/cmd_vel",10);//发布控制小乌龟运动的速度
// 定义一个服务器
	Server server(n, "turtleMove", boost::bind(&execute, _1,&server), false);
// 服务器开始运行
	server.start();
	ROS_INFO("server has started.");
	ros::spin();
	return 0;
}

4.修改CMakeLists.txt的内容

cd ~comm_ws/learn_communication
sudo gedit CMakelists.txt

5.运行 

cd ~/comm_ws
catkin_make
source ./devel/setup.bash
rosrun learning_communication turtleMove

首先我们运行 ros-master 和小海龟节点，然后我们先运行 server 节点，这里由于我们并没有启动 client ，所以小海龟没有运动，而是循环输出当前的位置和方向。
然后启动 client ，这是我们的 server 端就已经成功的接收到了目标地址信息。
当命令行提示运动结束，我们就可以看到小海龟已经运动到了我们目标位置，我们的位置输出就已经没有变化了。